fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-05 19:00:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mRo ctrl zero updates

Browse Source 
- add ICM20602 and ICM20648 data ready interrupts
 - enable Bosch BMI088 IMU
 - move HRT_TIMER to TIM3 (same timer as PPM channel)
This commit is contained in:
Daniel Agar
2019-12-01 17:22:29 -05:00
parent a859a6b57c
commit fd72e5e795
6 changed files with 25 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/bmi088/bmi088_main.cpp
+8
View File
@@ -90,7 +90,11 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
#endif
} else {
#if defined(PX4_SPI_BUS_SENSORS3) && defined(PX4_SPIDEV_BMI088_ACC)
*g_dev_acc_ptr = new BMI088_accel(PX4_SPI_BUS_SENSORS3, path_accel, PX4_SPIDEV_BMI088_ACC, rotation);
#elif defined(PX4_SPI_BUS_5) && defined(PX4_SPIDEV_BMI088_ACC)
*g_dev_acc_ptr = new BMI088_accel(PX4_SPI_BUS_5, path_accel, PX4_SPIDEV_BMI088_ACC, rotation);
#endif
}
if (*g_dev_acc_ptr == nullptr) {
@@ -120,7 +124,11 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
#endif
} else {
#if defined(PX4_SPI_BUS_SENSORS3) && defined(PX4_SPIDEV_BMI088_GYR)
*g_dev_gyr_ptr = new BMI088_gyro(PX4_SPI_BUS_SENSORS3, path_gyro, PX4_SPIDEV_BMI088_GYR, rotation);
#elif defined(PX4_SPI_BUS_5) && defined(PX4_SPIDEV_BMI088_GYR)
*g_dev_gyr_ptr = new BMI088_gyro(PX4_SPI_BUS_5, path_gyro, PX4_SPIDEV_BMI088_GYR, rotation);
#endif
}
if (*g_dev_gyr_ptr == nullptr) {